#ifndef __ROBO_APP_H
#define __ROBO_APP_H
#ifdef __cpluscplus
extern "C"{
#endif //__cpluscplus

#include "trinclude.h"

#include "system_interface.h"
#include "example-robovac.h"

#include "Message.h"
#include "ErrorHelper.h"
#include "RingBuffer.h"

#include "Icm426xxTransport.h"
#include "Icm426xxDefs.h"
#include "Icm426xxDriver_HL.h"
#include "Icm426xxExtFunc.h"

#include "invn_algo_robovac.h"

#include "main.h"
extern UART_HandleTypeDef huart1;
extern uint8_t uart1RecBuffer[16];

#define ICMSPI SPI1
#define ICMNSS_ENABLE	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_RESET)
#define ICMNSS_DISABLE	HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_SET)



void roboInit(void);
void roboLoop(void);

void usb_printf(const char *format,...);

uint8_t uart_getc(void);

void SpiTest(void);

#ifdef __cpluscplus
}
#endif //__cpluscplus
#endif //__ROBO_APP_H
